The Allegro Hand V5 Sense from Wonik Robotics is equipped with 16 pressure sensing channels across four fingers with four independent current-controlled joints each (16 DOF total), providing detailed force distribution for precise tactile feedback. It provides adduction and abduction capability of the fingers for more natural and versatile grasping similar to a human hand. It features omnidirectional tactile sensors applied to each fingertip using a capacitive pressure sensor with air pressure measurement, with stiffness similar to a human hand and fingertip color changing based on tactile sensitivity. It supports real-time control, online simulation, and multiple ready-to-use grasping algorithms for manipulating objects from rigid to deformable soft materials.